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Improve lidar align accuracy

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This commit is contained in:
Michael Mikovsky
2025-02-01 15:52:06 -07:00
parent e379794da1
commit 7fa93e6892
7 changed files with 71 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -3
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@@ -36,7 +36,7 @@ import edu.wpi.first.wpilibj2.command.Commands;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.GotoPositionCommand;
import frc4388.robot.commands.GotoLastApril;
import frc4388.robot.commands.LidarAlign;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
@@ -106,7 +106,12 @@ public class RobotContainer {
() -> autoplaybackName.get(), // lastAutoName
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
private Command AutoGotoPosition = new GotoPositionCommand(m_robotSwerveDrive, m_vision);
private Command AutoGotoPosition = new GotoLastApril(m_robotSwerveDrive, m_vision);
private Command AprilLidarAlign = new SequentialCommandGroup(
new GotoLastApril(m_robotSwerveDrive, m_vision),
new InstantCommand(() -> System.out.println("Soup")),
new LidarAlign(m_robotSwerveDrive, m_lidar, true)
);
private Command AprilLidarLeft = new SequentialCommandGroup(
AutoGotoPosition.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_lidar, false)
@@ -114,6 +119,7 @@ public class RobotContainer {
private Command AprilLidarRight = new SequentialCommandGroup(
AutoGotoPosition.asProxy(),
new InstantCommand(() -> System.out.println("Soup")),
new LidarAlign(m_robotSwerveDrive, m_lidar, true)
);
@@ -141,7 +147,7 @@ public class RobotContainer {
public RobotContainer() {
NamedCommands.registerCommand("AutoGotoPosition", AutoGotoPosition);
NamedCommands.registerCommand("april-allign", AutoGotoPosition);
NamedCommands.registerCommand("april-allign", AprilLidarAlign);
NamedCommands.registerCommand("place-coral", placeCoral);
NamedCommands.registerCommand("grab-coral", grabCoral);
@@ -218,6 +224,15 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));